Fix tf2 compatibility of tf python implementation #134
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The original implementation is not fully compatible with tf2, e.g. it does not subscribe to /static_tf and thusly cannot support the new static transformations introduced by tf2. Similar to the C++ code, the Python implementation forwards all calls to the tf2 Python implementation now, ensuring that all implementation details of tf2 are properly hidden and the tf library will remain compatible.
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Addresses #117 |
getLatestCommonTime() is needed to implement the TF API. See ros/geometry#134
getLatestCommonTime() is needed to implement the TF API. See ros/geometry#134
tf/package.xml
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| <export> | ||
| <roswtf plugin="tf.tfwtf" /> | ||
| <!-- <roswtf plugin="tf.tfwtf" /> --> |
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tfwtf is written for tf1 (e.g. it explicitly subscribes to /tf), so IMHO this functionality should be implemented by tf2 instead.
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It should still work though, since the implementation details remain compatible enough for now.
tf/test/testPython.py
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| @@ -78,10 +83,10 @@ def elapsed_time_within_epsilon(t, delta, epsilon): | |||
| epsilon = 0.1 | |||
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| # Check for dedicated thread exception, existing frames | |||
| self.assertRaises(tf.Exception, lambda: t.waitForTransform("PARENT", "THISFRAME", rospy.Time(), timeout)) | |||
| ###self.assertRaises(tf.Exception, lambda: t.waitForTransform("PARENT", "THISFRAME", rospy.Time(), timeout)) | |||
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Why are these asserts commented out?
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@ros-pull-request-builder retest this please |
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Apparently, the failed check is caused by the unit tests of |
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Is there anything else you need me to fix before this can get merged? |
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Now that tf2 has been released with the upstream changes, it needs a version dependency. Other than that I've just been starved for maintenance time. |
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I took the liberty to fix the unstable build, even though it took me a bit longer than I care to admit ;-) |
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Great, thanks for the contributions! I will shoot to merge and release this after we get the pending sync out. |
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rebased and merged in #149 |
The Python code is completely replaced by forwarding calls to tf2_ros. This makes tf fully compatible with tf2, in particular it adds the missing support for static transformations.
A few API calls are no longer supported in the tf2 Python implementation. Most notably, the current pull request does not implement
chain(),frameExists(), andgetFrameStrings(). I believe those methods are rarely used and therefore expendable.The
lookupTwist()andgetLatestCommonTime()implementations rely on ros/geometry2#192